// --------------------------------------------------------------------------------------------------------------------
// <copyright file="JointStateTest.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
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// --------------------------------------------------------------------------------------------------------------------
namespace Microsoft.Robotics.Navigation.Runtime.UnitTests
{
    using System.Collections.Generic;

    using Microsoft.Robotics.Algorithms;
    using Microsoft.Robotics.Hardware.DAC;    
    using Microsoft.Robotics.Numerics;
    using Microsoft.VisualStudio.TestTools.UnitTesting;

    /// <summary>
    /// Validates joint state functionality
    /// </summary>
    [TestClass]
    public class JointStateTest
    {
        /// <summary>
        /// Test joint state interpolation.
        /// </summary>
        [Priority(0)]
        [TestMethod]
        [TestCategory("Unit")]
        public void JointMessageInterpolate()
        {            
            JointState startJoint = new JointState();
            startJoint.PositionInRadians = 1;
            startJoint.TimestampInMilliseconds = 2;
            startJoint.TimestampInTicks = 2;

            JointState endJoint = new JointState();
            endJoint.PositionInRadians = 10;
            endJoint.TimestampInMilliseconds = 20;
            endJoint.TimestampInTicks = 30;

            long startTime = 100;
            long endTime = 200;
            long[] desiredTimes = { 100, 110, 120, 200 };

            for (int i = 0; i < desiredTimes.Length; ++i)
            {                
                JointState expected = new JointState();
                expected.PositionInRadians = Pose2D.LinearInterpolateHeading(startTime, endTime, desiredTimes[i], startJoint.PositionInRadians, endJoint.PositionInRadians);
                expected.TimestampInMilliseconds = (long)(Interpolator.LinearInterpolate(startTime, endTime, desiredTimes[i], startJoint.TimestampInMilliseconds, endJoint.TimestampInMilliseconds));
                expected.TimestampInTicks = (long)(Interpolator.LinearInterpolate(startTime, endTime, desiredTimes[i], startJoint.TimestampInMilliseconds, endJoint.TimestampInTicks));
                JointState interpolated = JointState.Interpolate(startTime, endTime, desiredTimes[i], startJoint, endJoint);                
                Assert.AreEqual(interpolated.PositionInRadians, expected.PositionInRadians, MathConstants.ErrorEpsilon);
                Assert.AreEqual(interpolated.TimestampInMilliseconds, expected.TimestampInMilliseconds);
                Assert.AreEqual(interpolated.TimestampInTicks, expected.TimestampInTicks);
            }
        }
    }
}
